From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/ode/src/joints/hinge2.h | 71 +++++++++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 libs/ode-0.16.1/ode/src/joints/hinge2.h (limited to 'libs/ode-0.16.1/ode/src/joints/hinge2.h') diff --git a/libs/ode-0.16.1/ode/src/joints/hinge2.h b/libs/ode-0.16.1/ode/src/joints/hinge2.h new file mode 100644 index 0000000..06ce240 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/joints/hinge2.h @@ -0,0 +1,71 @@ +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser General Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * General Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#ifndef _ODE_JOINT_HINGE2_H_ +#define _ODE_JOINT_HINGE2_H_ + +#include "joint.h" + + +// hinge 2 + +struct dxJointHinge2 : public dxJoint +{ + dVector3 anchor1; // anchor w.r.t first body + dVector3 anchor2; // anchor w.r.t second body + dVector3 axis1; // axis 1 w.r.t first body + dVector3 axis2; // axis 2 w.r.t second body + dReal c0, s0; // cos,sin of desired angle between axis 1,2 + dVector3 v1, v2; // angle ref vectors embedded in first body + dVector3 w1, w2; // angle ref vectors embedded in second body + dxJointLimitMotor limot1; // limit+motor info for axis 1 + dxJointLimitMotor limot2; // limit+motor info for axis 2 + dReal susp_erp, susp_cfm; // suspension parameters (erp,cfm) + + + dReal measureAngle1() const; + dReal measureAngle2() const; + void makeV1andV2(); + void makeW1andW2(); + + void getAxisInfo(dVector3 ax1, dVector3 ax2, dVector3 axis, + dReal &sin_angle, dReal &cos_Angle) const; + + + + dxJointHinge2( dxWorld *w ); + + virtual void getSureMaxInfo( SureMaxInfo* info ); + virtual void getInfo1( Info1* info ); + virtual void getInfo2( dReal worldFPS, dReal worldERP, + int rowskip, dReal *J1, dReal *J2, + int pairskip, dReal *pairRhsCfm, dReal *pairLoHi, + int *findex ); + virtual dJointType type() const; + virtual sizeint size() const; + + virtual void setRelativeValues(); +}; + + + +#endif -- cgit v1.2.1